不具合の概要

ubuntuを20.04から22.04にアップデートしros2 humbleをインストール Gazebo等の必要なライブラリをインストール
source /opt/ros/humble/setup.bash mkdir -p ~/ros2_ws/src cd ~/ros2_ws/src git clone -b ros2 https://github.com/rt-net/sciurus17_ros.git git clone -b ros2 https://github.com/rt-net/sciurus17_description.git
rosdep install -r -y -i --from-paths .
cd ~/ros2_ws colcon build --symlink-install source ~/ros2_ws/install/setup.bash
ros2 run sciurus17_tools create_udev_rules
を実行した後再起動
以下のプログラムを実行した後Rvizが起動したがsciurus17が表示されない source ~/ros2_ws/install/setup.bash ros2 launch sciurus17_examples demo.launch.py
Screenshot from 2024-04-04 19-59-31
また以下のプログラムを実行してもsciurus17が表示されずシミュレーションが実行できなかった
source ~/ros2_ws/install/setup.bash ros2 launch sciurus17_gazebo sciurus17_with_table.launch.py
Screenshot from 2024-04-04 19-57-37
以下のリンク先にある作業を実行していました https://rt-net.jp/humanoid/archives/5548
実行環境

OS:Ubuntu 22.04
ソフトのバージョン:02182bb
再現方法

'source ~/ros2_ws/install/setup.bash' を実行する
'ros2 launch sciurus17_gazebo sciurus17_with_table.launch.py' を実行する
不具合が発生する
期待する動作

Rviz上で表示されるsciurus17に対しシミュレーションを行いたい
ログ・画像

Screenshot from 2024-04-04 19-45-08
#$ ros2 launch sciurus17_gazebo sciurus17_with_table.launch.py
[INFO] [launch]: All log files can be found below /home/sciurus/.ros/log/2024-04-04-19-39-04-270800-sciurus-NUC11PAHi7-11526
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ign gazebo -r-1]: process started with pid [11528]
[INFO] [create-2]: process started with pid [11531]
[INFO] [ros2 run controller_manager spawner joint_state_broadcaster-3]: process started with pid [11533]
[INFO] [ros2 run controller_manager spawner right_arm_controller-4]: process started with pid [11536]
[INFO] [ros2 run controller_manager spawner right_gripper_controller-5]: process started with pid [11538]
[INFO] [ros2 run controller_manager spawner left_arm_controller-6]: process started with pid [11541]
[INFO] [ros2 run controller_manager spawner left_gripper_controller-7]: process started with pid [11544]
[INFO] [ros2 run controller_manager spawner neck_controller-8]: process started with pid [11547]
[INFO] [ros2 run controller_manager spawner waist_yaw_controller-9]: process started with pid [11550]
[INFO] [move_group-10]: process started with pid [11553]
[INFO] [rviz2-11]: process started with pid [11556]
[INFO] [static_transform_publisher-12]: process started with pid [11558]
[INFO] [robot_state_publisher-13]: process started with pid [11571]
[INFO] [parameter_bridge-14]: process started with pid [11600]
[create-2] [INFO] [1712227145.010271574] [ros_gz_sim]: Requesting list of world names.
[move_group-10] [INFO] [1712227145.030969937] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0 seconds
[move_group-10] [INFO] [1712227145.031052356] [moveit_robot_model.robot_model]: Loading robot model 'sciurus17'...
[rviz2-11] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[static_transform_publisher-12] [INFO] [1712227145.038534938] [static_transform_publisher0]: Spinning until stopped - publishing transform
[static_transform_publisher-12] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-12] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-12] from 'world' to 'base_link'
[robot_state_publisher-13] [INFO] [1712227145.058548208] [robot_state_publisher]: got segment base_link
[robot_state_publisher-13] [INFO] [1712227145.058679399] [robot_state_publisher]: got segment body_link
[robot_state_publisher-13] [INFO] [1712227145.058688885] [robot_state_publisher]: got segment chest_camera_link
[robot_state_publisher-13] [INFO] [1712227145.058694307] [robot_state_publisher]: got segment dummy_mimic_fix_l
[robot_state_publisher-13] [INFO] [1712227145.058699716] [robot_state_publisher]: got segment dummy_mimic_fix_r
[robot_state_publisher-13] [INFO] [1712227145.058704884] [robot_state_publisher]: got segment head_camera_color_frame
[robot_state_publisher-13] [INFO] [1712227145.058710534] [robot_state_publisher]: got segment head_camera_color_optical_frame
[robot_state_publisher-13] [INFO] [1712227145.058715956] [robot_state_publisher]: got segment head_camera_link
[robot_state_publisher-13] [INFO] [1712227145.058720740] [robot_state_publisher]: got segment l_gripperA_link
[robot_state_publisher-13] [INFO] [1712227145.058725440] [robot_state_publisher]: got segment l_gripperB_link
[robot_state_publisher-13] [INFO] [1712227145.058730797] [robot_state_publisher]: got segment l_link1
[robot_state_publisher-13] [INFO] [1712227145.058735690] [robot_state_publisher]: got segment l_link2
[robot_state_publisher-13] [INFO] [1712227145.058740972] [robot_state_publisher]: got segment l_link3
[robot_state_publisher-13] [INFO] [1712227145.058745829] [robot_state_publisher]: got segment l_link4
[robot_state_publisher-13] [INFO] [1712227145.058750634] [robot_state_publisher]: got segment l_link5
[robot_state_publisher-13] [INFO] [1712227145.058755052] [robot_state_publisher]: got segment l_link5_armarker
[robot_state_publisher-13] [INFO] [1712227145.058759471] [robot_state_publisher]: got segment l_link6
[robot_state_publisher-13] [INFO] [1712227145.058764368] [robot_state_publisher]: got segment l_link7
[robot_state_publisher-13] [INFO] [1712227145.058769080] [robot_state_publisher]: got segment neck_pitch_link
[robot_state_publisher-13] [INFO] [1712227145.058773715] [robot_state_publisher]: got segment neck_yaw_link
[robot_state_publisher-13] [INFO] [1712227145.058779047] [robot_state_publisher]: got segment r_gripperA_link
[robot_state_publisher-13] [INFO] [1712227145.058783930] [robot_state_publisher]: got segment r_gripperB_link
[robot_state_publisher-13] [INFO] [1712227145.058788779] [robot_state_publisher]: got segment r_link1
[robot_state_publisher-13] [INFO] [1712227145.058793781] [robot_state_publisher]: got segment r_link2
[robot_state_publisher-13] [INFO] [1712227145.058798849] [robot_state_publisher]: got segment r_link3
[robot_state_publisher-13] [INFO] [1712227145.058803683] [robot_state_publisher]: got segment r_link4
[robot_state_publisher-13] [INFO] [1712227145.058808841] [robot_state_publisher]: got segment r_link5
[robot_state_publisher-13] [INFO] [1712227145.058814293] [robot_state_publisher]: got segment r_link5_armarker
[robot_state_publisher-13] [INFO] [1712227145.058819676] [robot_state_publisher]: got segment r_link6
[robot_state_publisher-13] [INFO] [1712227145.058824930] [robot_state_publisher]: got segment r_link7
[robot_state_publisher-13] [INFO] [1712227145.058830207] [robot_state_publisher]: got segment world
[move_group-10] [INFO] [1712227145.337702122] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-10] [INFO] [1712227145.337902337] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-10] [INFO] [1712227145.338898449] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-10] [INFO] [1712227145.340454983] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-10] [INFO] [1712227145.341159867] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-10] [INFO] [1712227145.342927597] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-10] [INFO] [1712227145.343620228] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-10] [INFO] [1712227145.344870200] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-10] [INFO] [1712227145.346160801] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-10] [WARN] [1712227145.346905612] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-10] [ERROR] [1712227145.347335007] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[rviz2-11] [INFO] [1712227145.476765971] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-11] [INFO] [1712227145.485880482] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-11] [INFO] [1712227145.508555593] [rviz2]: Stereo is NOT SUPPORTED
[move_group-10] [INFO] [1712227145.523418389] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[move_group-10] [ERROR] [1712227145.533739189] [moveit.ros_planning.planning_pipeline]: Exception while loading planner 'ompl_interface/OMPLPlanner': According to the loaded plugin descriptions the class ompl_interface/OMPLPlanner with base class type planning_interface::PlannerManager does not exist. Declared types are Available plugins: 
[move_group-10] [INFO] [1712227145.538908054] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000
[move_group-10] [INFO] [1712227145.545357593] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000
[move_group-10] [INFO] [1712227145.546160216] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000
[move_group-10] [INFO] [1712227145.546657895] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-10] [INFO] [1712227145.547141634] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000
[move_group-10] [INFO] [1712227145.551604511] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-10] [INFO] [1712227145.551646646] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-10] [INFO] [1712227145.551656962] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was set to 0.050000
[move_group-10] [INFO] [1712227145.551666858] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100
[move_group-10] [INFO] [1712227145.551679335] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-10] [INFO] [1712227145.551684545] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-10] [INFO] [1712227145.551687948] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-10] [INFO] [1712227145.551691154] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-10] [INFO] [1712227145.551694145] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-10] [INFO] [1712227145.551727385] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-10] [ERROR] [1712227145.555424759] [moveit.ros_planning_interface.moveit_cpp]: Failed to initialize planning pipeline 'ompl'.
[move_group-10] [ERROR] [1712227145.556889553] [moveit.ros_planning_interface.moveit_cpp]: Failed to load any planning pipelines.
[move_group-10] [FATAL] [1712227145.556918236] [moveit.ros_planning_interface.moveit_cpp]: Failed to load planning pipelines from parameter server
[move_group-10] terminate called after throwing an instance of 'std::runtime_error'
[move_group-10]   what():  Failed to load planning pipelines from parameter server
[move_group-10] Stack trace (most recent call last):
[move_group-10] #12   Object "", at 0xffffffffffffffff, in 
[move_group-10] #11   Object "/opt/ros/humble/lib/moveit_ros_move_group/move_group", at 0x562f6e49b724, in 
[ign gazebo -r-1] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[rviz2-11] [ERROR] [1712227145.670654832] [rviz2]: PluginlibFactory: The plugin for class 'moveit_rviz_plugin/MotionPlanning' failed to load. Error: According to the loaded plugin descriptions the class moveit_rviz_plugin/MotionPlanning with base class type rviz_common::Display does not exist. Declared types are  rviz_default_plugins/AccelStamped rviz_default_plugins/Axes rviz_default_plugins/Camera rviz_default_plugins/DepthCloud rviz_default_plugins/Effort rviz_default_plugins/FluidPressure rviz_default_plugins/Grid rviz_default_plugins/GridCells rviz_default_plugins/Illuminance rviz_default_plugins/Image rviz_default_plugins/InteractiveMarkers rviz_default_plugins/LaserScan rviz_default_plugins/Map rviz_default_plugins/Marker rviz_default_plugins/MarkerArray rviz_default_plugins/Odometry rviz_default_plugins/Path rviz_default_plugins/PointCloud rviz_default_plugins/PointCloud2 rviz_default_plugins/PointStamped rviz_default_plugins/Polygon rviz_default_plugins/Pose rviz_default_plugins/PoseArray rviz_default_plugins/PoseWithCovariance rviz_default_plugins/Range rviz_default_plugins/RelativeHumidity rviz_default_plugins/RobotModel rviz_default_plugins/TF rviz_default_plugins/Temperature rviz_default_plugins/TwistStamped rviz_default_plugins/Wrench
[move_group-10] #10   Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x7f39670cae3f]
[move_group-10] #9    Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x7f39670cad8f]
[move_group-10] #8    Object "/opt/ros/humble/lib/moveit_ros_move_group/move_group", at 0x562f6e49a2c2, in 
[move_group-10] #7    Object "/opt/ros/humble/lib/libmoveit_cpp.so.2.5.5", at 0x7f3967a0ae9a, in 
[move_group-10] #6    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f396739a4d7, in __cxa_throw
[move_group-10] #5    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f396739a276, in std::terminate()
[move_group-10] #4    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f396739a20b, in 
[move_group-10] #3    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f396738eb9d, in 
[move_group-10] #2    Source "./stdlib/abort.c", line 79, in abort [0x7f39670c97f2]
[move_group-10] #1    Source "../sysdeps/posix/raise.c", line 26, in raise [0x7f39670e3475]
[move_group-10] #0  | Source "./nptl/pthread_kill.c", line 89, in __pthread_kill_internal
[move_group-10]     | Source "./nptl/pthread_kill.c", line 78, in __pthread_kill_implementation
[move_group-10]       Source "./nptl/pthread_kill.c", line 44, in __pthread_kill [0x7f39671379fc]
[move_group-10] Aborted (Signal sent by tkill() 11553 1000)
[rviz2-11] [INFO] [1712227145.798644265] [rviz2]: Stereo is NOT SUPPORTED
[create-2] [INFO] [1712227146.118915457] [ros_gz_sim]: Waiting messages on topic [/robot_description].
[create-2] [INFO] [1712227146.217338259] [ros_gz_sim]: Requested creation of entity.
[create-2] [INFO] [1712227146.217401267] [ros_gz_sim]: OK creation of entity.
[parameter_bridge-14] [INFO] [1712227146.252883521] [ros_gz_bridge]: Creating GZ->ROS Bridge: [clock (gz.msgs.Clock) -> clock (rosgraph_msgs/msg/Clock)] (Lazy 0)
[parameter_bridge-14] [INFO] [1712227146.318427745] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/head_camera/image (gz.msgs.Image) -> /head_camera/color/image_raw (sensor_msgs/msg/Image)] (Lazy 0)
[parameter_bridge-14] [INFO] [1712227146.319966394] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/head_camera/depth_image (gz.msgs.Image) -> /head_camera/aligned_depth_to_color/image_raw (sensor_msgs/msg/Image)] (Lazy 0)
[parameter_bridge-14] [INFO] [1712227146.320399379] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/head_camera/points (gz.msgs.PointCloudPacked) -> /head_camera/depth/color/points (sensor_msgs/msg/PointCloud2)] (Lazy 0)
[parameter_bridge-14] [INFO] [1712227146.320988748] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/head_camera/camera_info (gz.msgs.CameraInfo) -> /head_camera/color/camera_info (sensor_msgs/msg/CameraInfo)] (Lazy 0)
[parameter_bridge-14] [INFO] [1712227146.321465985] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/head_camera/camera_info (gz.msgs.CameraInfo) -> /head_camera/aligned_depth_to_color/camera_info (sensor_msgs/msg/CameraInfo)] (Lazy 0)
[parameter_bridge-14] [INFO] [1712227146.321875956] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/chest_camera/image_raw (gz.msgs.Image) -> /chest_camera/image_raw (sensor_msgs/msg/Image)] (Lazy 0)
[parameter_bridge-14] [INFO] [1712227146.322227469] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/chest_camera/camera_info (gz.msgs.CameraInfo) -> /chest_camera/camera_info (sensor_msgs/msg/CameraInfo)] (Lazy 0)
[INFO] [create-2]: process has finished cleanly [pid 11531]
[ERROR] [move_group-10]: process has died [pid 11553, exit code -6, cmd '/opt/ros/humble/lib/moveit_ros_move_group/move_group --ros-args -p use_sim_time:=True --params-file /tmp/launch_params_kbla5hpe --params-file /tmp/launch_params_ygmuzbkq'].
[ros2 run controller_manager spawner right_gripper_controller-5] [INFO] [1712227147.528561070] [spawner_right_gripper_controller]: Waiting for '/controller_manager' node to exist
[ign gazebo -r-1] [Err] [SystemLoader.cc:94] Failed to load system plugin [libign_ros2_control-system.so] : couldn't find shared library.
[ros2 run controller_manager spawner neck_controller-8] [INFO] [1712227147.737332300] [spawner_neck_controller]: Waiting for '/controller_manager' node to exist
[ros2 run controller_manager spawner left_gripper_controller-7] [INFO] [1712227147.750826690] [spawner_left_gripper_controller]: Waiting for '/controller_manager' node to exist
[ros2 run controller_manager spawner left_arm_controller-6] [INFO] [1712227147.751900354] [spawner_left_arm_controller]: Waiting for '/controller_manager' node to exist
[ros2 run controller_manager spawner waist_yaw_controller-9] [INFO] [1712227147.965967002] [spawner_waist_yaw_controller]: Waiting for '/controller_manager' node to exist
[ros2 run controller_manager spawner joint_state_broadcaster-3] [INFO] [1712227147.987061609] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[ros2 run controller_manager spawner right_arm_controller-4] [INFO] [1712227147.999117629] [spawner_right_arm_controller]: Waiting for '/controller_manager' node to exist
[ros2 run controller_manager spawner right_gripper_controller-5] [INFO] [1712227149.537762765] [spawner_right_gripper_controller]: Waiting for '/controller_manager' node to exist
[ros2 run controller_manager spawner neck_controller-8] [INFO] [1712227149.747361874] [spawner_neck_controller]: Waiting for '/controller_manager' node to exist
[ros2 run controller_manager spawner left_gripper_controller-7] [INFO] [1712227149.760032980] [spawner_left_gripper_controller]: Waiting for '/controller_manager' node to exist
[ros2 run controller_manager spawner left_arm_controller-6] [INFO] [1712227149.760032344] [spawner_left_arm_controller]: Waiting for '/controller_manager' node to exist
[ros2 run controller_manager spawner waist_yaw_controller-9] [INFO] [1712227149.975690811] [spawner_waist_yaw_controller]: Waiting for '/controller_manager' node to exist
[ros2 run controller_manager spawner joint_state_broadcaster-3] [INFO] [1712227150.002262662] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[ros2 run controller_manager spawner right_arm_controller-4] [INFO] [1712227150.010287592] [spawner_right_arm_controller]: Waiting for '/controller_manager' node to exist
[rviz2-11] [INFO] [1712227150.914317344] [rviz]: Message Filter dropping message: frame 'head_camera_color_frame' at time 0.100 for reason 'discarding message because the queue is full'
[rviz2-11] [INFO] [1712227150.978313480] [rviz]: Message Filter dropping message: frame 'head_camera_color_frame' at time 0.200 for reason 'discarding message because the queue is full'
[rviz2-11] [INFO] [1712227151.105615330] [rviz]: Message Filter dropping message: frame 'head_camera_color_frame' at time 0.400 for reason 'discarding message because the queue is full'
[rviz2-11] [INFO] [1712227151.297304548] [rviz]: Message Filter dropping message: frame 'head_camera_color_frame' at time 0.500 for reason 'discarding message because the queue is full'
[rviz2-11] [INFO] [1712227151.425051649] [rviz]: Message Filter dropping message: frame 'head_camera_color_frame' at time 0.700 for reason 'discarding message because the queue is full'
[rviz2-11] [INFO] [1712227151.522219267] [rviz]: Message Filter dropping message: frame 'head_camera_color_frame' at time 0.900 for reason 'discarding message because the queue is full'
[ros2 run controller_manager spawner right_gripper_controller-5] [INFO] [1712227151.550058670] [spawner_right_gripper_controller]: Waiting for '/controller_manager' node to exist
[rviz2-11] [INFO] [1712227151.618427387] [rviz]: Message Filter dropping message: frame 'head_camera_color_frame' at time 1.000 for reason 'discarding message because the queue is full'
[ros2 run controller_manager spawner neck_controller-8] [INFO] [1712227151.761873449] [spawner_neck_controller]: Waiting for '/controller_manager' node to exist
[ros2 run controller_manager spawner left_gripper_controller-7] [INFO] [1712227151.772426265] [spawner_left_gripper_controller]: Waiting for '/controller_manager' node to exist
[ros2 run controller_manager spawner left_arm_controller-6] [INFO] [1712227151.772425941] [spawner_left_arm_controller]: Waiting for '/controller_manager' node to exist
[rviz2-11] [INFO] [1712227151.906647140] [rviz]: Message Filter dropping message: frame 'head_camera_color_frame' at time 1.100 for reason 'discarding message because the queue is full'
[ros2 run controller_manager spawner waist_yaw_controller-9] [INFO] [1712227151.988263260] [spawner_waist_yaw_controller]: Waiting for '/controller_manager' node to exist
[ros2 run controller_manager spawner joint_state_broadcaster-3] [INFO] [1712227152.015299282] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[ros2 run controller_manager spawner right_arm_controller-4] [INFO] [1712227152.023412378] [spawner_right_arm_controller]: Waiting for '/controller_manager' node to exist
[rviz2-11] [INFO] [1712227152.289682625] [rviz]: Message Filter dropping message: frame 'head_camera_color_frame' at time 1.400 for reason 'discarding message because the queue is full'
[rviz2-11] [INFO] [1712227152.385765339] [rviz]: Message Filter dropping message: frame 'head_camera_color_frame' at time 1.500 for reason 'discarding message because the queue is full'
[rviz2-11] [INFO] [1712227152.515525786] [rviz]: Message Filter dropping message: frame 'head_camera_color_frame' at time 1.600 for reason 'discarding message because the queue is full'
[rviz2-11] [INFO] [1712227152.609971886] [rviz]: Message Filter dropping message: frame 'head_camera_color_frame' at time 1.700 for reason 'discarding message because the queue is full'
[rviz2-11] [INFO] [1712227152.735427744] [rviz]: Message Filter dropping message: frame 'head_camera_color_frame' at time 1.800 for reason 'discarding message because the queue is full'
[rviz2-11] [INFO] [1712227152.864214083] [rviz]: Message Filter dropping message: frame 'head_camera_color_frame' at time 2.000 for reason 'discarding message because the queue is full'
[rviz2-11] [INFO] [1712227152.959754032] [rviz]: Message Filter dropping message: frame 'head_camera_color_frame' at time 2.100 for reason 'discarding message because the queue is full'
[rviz2-11] [INFO] [1712227153.055923564] [rviz]: Message Filter dropping message: frame 'head_camera_color_frame' at time 2.200 for reason 'discarding message because the queue is full'
[rviz2-11] [INFO] [1712227153.152216466] [rviz]: Message Filter dropping message: frame 'head_camera_color_frame' at time 2.300 for reason 'discarding message because the queue is full'
[rviz2-11] [INFO] [1712227153.311989973] [rviz]: Message Filter dropping message: frame 'head_camera_color_frame' at time 2.500 for reason 'discarding message because the queue is full'
[rviz2-11] [INFO] [1712227153.439841628] [rviz]: Message Filter dropping message: frame 'head_camera_color_frame' at time 2.900 for reason 'discarding message because the queue is full'
[rviz2-11] [INFO] [1712227153.503762724] [rviz]: Message Filter dropping message: frame 'head_camera_color_frame' at time 3.000 for reason 'discarding message because the queue is full'
[ros2 run controller_manager spawner right_gripper_controller-5] [INFO] [1712227153.562484411] [spawner_right_gripper_controller]: Waiting for '/controller_manager' node to exist
[rviz2-11] [INFO] [1712227153.600173410] [rviz]: Message Filter dropping message: frame 'head_camera_color_frame' at time 3.100 for reason 'discarding message because the queue is full'
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[parameter_bridge-14] [INFO] [1712227153.602928858] [rclcpp]: signal_handler(signum=2)
[static_transform_publisher-12] [INFO] [1712227153.603659081] [rclcpp]: signal_handler(signum=2)
[robot_state_publisher-13] [INFO] [1712227153.603680580] [rclcpp]: signal_handler(signum=2)
[ros2 run controller_manager spawner joint_state_broadcaster-3] Traceback (most recent call last):
[ros2 run controller_manager spawner joint_state_broadcaster-3]   File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in <module>
[ros2 run controller_manager spawner joint_state_broadcaster-3]     sys.exit(load_entry_point('controller-manager==2.40.0', 'console_scripts', 'spawner')())
[ros2 run controller_manager spawner joint_state_broadcaster-3]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 222, in main
[ros2 run controller_manager spawner joint_state_broadcaster-3]     if not wait_for_controller_manager(
[ros2 run controller_manager spawner joint_state_broadcaster-3]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 106, in wait_for_controller_manager
[ros2 run controller_manager spawner joint_state_broadcaster-3]     node_and_namespace = wait_for_value_or(
[ros2 run controller_manager spawner joint_state_broadcaster-3]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 66, in wait_for_value_or
[ros2 run controller_manager spawner joint_state_broadcaster-3]     time.sleep(0.2)
[ros2 run controller_manager spawner joint_state_broadcaster-3] KeyboardInterrupt
[rviz2-11] [INFO] [1712227153.606582366] [rclcpp]: signal_handler(signum=2)
[ros2 run controller_manager spawner right_arm_controller-4] Traceback (most recent call last):
[ros2 run controller_manager spawner right_arm_controller-4]   File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in <module>
[ros2 run controller_manager spawner right_arm_controller-4]     sys.exit(load_entry_point('controller-manager==2.40.0', 'console_scripts', 'spawner')())
[ros2 run controller_manager spawner right_arm_controller-4]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 222, in main
[ros2 run controller_manager spawner right_arm_controller-4]     if not wait_for_controller_manager(
[ros2 run controller_manager spawner right_arm_controller-4]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 106, in wait_for_controller_manager
[ros2 run controller_manager spawner right_arm_controller-4]     node_and_namespace = wait_for_value_or(
[ros2 run controller_manager spawner right_arm_controller-4]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 66, in wait_for_value_or
[ros2 run controller_manager spawner right_arm_controller-4]     time.sleep(0.2)
[ros2 run controller_manager spawner right_arm_controller-4] KeyboardInterrupt
[ros2 run controller_manager spawner left_arm_controller-6] Traceback (most recent call last):
[ros2 run controller_manager spawner left_arm_controller-6]   File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in <module>
[ros2 run controller_manager spawner left_arm_controller-6]     sys.exit(load_entry_point('controller-manager==2.40.0', 'console_scripts', 'spawner')())
[ros2 run controller_manager spawner left_arm_controller-6]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 222, in main
[ros2 run controller_manager spawner left_arm_controller-6]     if not wait_for_controller_manager(
[ros2 run controller_manager spawner left_arm_controller-6]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 106, in wait_for_controller_manager
[ros2 run controller_manager spawner left_arm_controller-6]     node_and_namespace = wait_for_value_or(
[ros2 run controller_manager spawner left_arm_controller-6]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 66, in wait_for_value_or
[ros2 run controller_manager spawner left_arm_controller-6]     time.sleep(0.2)
[ros2 run controller_manager spawner left_arm_controller-6] KeyboardInterrupt
[ros2 run controller_manager spawner right_gripper_controller-5] Traceback (most recent call last):
[ros2 run controller_manager spawner right_gripper_controller-5]   File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in <module>
[ros2 run controller_manager spawner right_gripper_controller-5]     sys.exit(load_entry_point('controller-manager==2.40.0', 'console_scripts', 'spawner')())
[ros2 run controller_manager spawner right_gripper_controller-5]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 222, in main
[ros2 run controller_manager spawner right_gripper_controller-5]     if not wait_for_controller_manager(
[ros2 run controller_manager spawner right_gripper_controller-5]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 106, in wait_for_controller_manager
[ros2 run controller_manager spawner right_gripper_controller-5]     node_and_namespace = wait_for_value_or(
[ros2 run controller_manager spawner right_gripper_controller-5]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 66, in wait_for_value_or
[ros2 run controller_manager spawner right_gripper_controller-5]     time.sleep(0.2)
[ros2 run controller_manager spawner right_gripper_controller-5] KeyboardInterrupt
[ros2 run controller_manager spawner waist_yaw_controller-9] Traceback (most recent call last):
[ros2 run controller_manager spawner waist_yaw_controller-9]   File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in <module>
[ros2 run controller_manager spawner waist_yaw_controller-9]     sys.exit(load_entry_point('controller-manager==2.40.0', 'console_scripts', 'spawner')())
[ros2 run controller_manager spawner waist_yaw_controller-9]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 222, in main
[ros2 run controller_manager spawner waist_yaw_controller-9]     if not wait_for_controller_manager(
[ros2 run controller_manager spawner waist_yaw_controller-9]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 106, in wait_for_controller_manager
[ros2 run controller_manager spawner waist_yaw_controller-9]     node_and_namespace = wait_for_value_or(
[ros2 run controller_manager spawner waist_yaw_controller-9]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 66, in wait_for_value_or
[ros2 run controller_manager spawner waist_yaw_controller-9]     time.sleep(0.2)
[ros2 run controller_manager spawner waist_yaw_controller-9] KeyboardInterrupt
[ros2 run controller_manager spawner left_gripper_controller-7] Traceback (most recent call last):
[ros2 run controller_manager spawner left_gripper_controller-7]   File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in <module>
[ros2 run controller_manager spawner neck_controller-8] Traceback (most recent call last):
[ros2 run controller_manager spawner neck_controller-8]   File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in <module>
[ros2 run controller_manager spawner neck_controller-8]     sys.exit(load_entry_point('controller-manager==2.40.0', 'console_scripts', 'spawner')())
[ros2 run controller_manager spawner neck_controller-8]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 222, in main
[ros2 run controller_manager spawner left_gripper_controller-7]     sys.exit(load_entry_point('controller-manager==2.40.0', 'console_scripts', 'spawner')())
[ros2 run controller_manager spawner left_gripper_controller-7]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 222, in main
[ros2 run controller_manager spawner left_gripper_controller-7]     if not wait_for_controller_manager(
[ros2 run controller_manager spawner left_gripper_controller-7]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 106, in wait_for_controller_manager
[ros2 run controller_manager spawner left_gripper_controller-7]     node_and_namespace = wait_for_value_or(
[ros2 run controller_manager spawner left_gripper_controller-7]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 66, in wait_for_value_or
[ros2 run controller_manager spawner left_gripper_controller-7]     time.sleep(0.2)
[ros2 run controller_manager spawner left_gripper_controller-7] KeyboardInterrupt
[ros2 run controller_manager spawner neck_controller-8]     if not wait_for_controller_manager(
[ros2 run controller_manager spawner neck_controller-8]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 106, in wait_for_controller_manager
[ros2 run controller_manager spawner neck_controller-8]     node_and_namespace = wait_for_value_or(
[ros2 run controller_manager spawner neck_controller-8]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 66, in wait_for_value_or
[ros2 run controller_manager spawner neck_controller-8]     time.sleep(0.2)
[ros2 run controller_manager spawner neck_controller-8] KeyboardInterrupt
[INFO] [parameter_bridge-14]: process has finished cleanly [pid 11600]
[ros2 run controller_manager spawner left_arm_controller-6] [ros2run]: Interrupt
[INFO] [static_transform_publisher-12]: process has finished cleanly [pid 11558]
[INFO] [robot_state_publisher-13]: process has finished cleanly [pid 11571]
[ros2 run controller_manager spawner left_gripper_controller-7] [ros2run]: Interrupt
[ros2 run controller_manager spawner waist_yaw_controller-9] [ros2run]: Interrupt
[ros2 run controller_manager spawner right_arm_controller-4] [ros2run]: Interrupt
[ERROR] [ros2 run controller_manager spawner left_gripper_controller-7]: process has died [pid 11544, exit code -2, cmd 'ros2 run controller_manager spawner left_gripper_controller'].
[ERROR] [ros2 run controller_manager spawner left_arm_controller-6]: process has died [pid 11541, exit code -2, cmd 'ros2 run controller_manager spawner left_arm_controller'].
[ros2 run controller_manager spawner neck_controller-8] [ros2run]: Interrupt
[ros2 run controller_manager spawner joint_state_broadcaster-3] [ros2run]: Interrupt
[ros2 run controller_manager spawner right_gripper_controller-5] [ros2run]: Interrupt
[ERROR] [ros2 run controller_manager spawner waist_yaw_controller-9]: process has died [pid 11550, exit code -2, cmd 'ros2 run controller_manager spawner waist_yaw_controller'].
[ERROR] [ros2 run controller_manager spawner right_arm_controller-4]: process has died [pid 11536, exit code -2, cmd 'ros2 run controller_manager spawner right_arm_controller'].
[ERROR] [ros2 run controller_manager spawner neck_controller-8]: process has died [pid 11547, exit code -2, cmd 'ros2 run controller_manager spawner neck_controller'].
[ERROR] [ros2 run controller_manager spawner joint_state_broadcaster-3]: process has died [pid 11533, exit code -2, cmd 'ros2 run controller_manager spawner joint_state_broadcaster'].
[ERROR] [ros2 run controller_manager spawner right_gripper_controller-5]: process has died [pid 11538, exit code -2, cmd 'ros2 run controller_manager spawner right_gripper_controller'].
[INFO] [rviz2-11]: process has finished cleanly [pid 11556]
[ERROR] [ign gazebo -r-1]: process has died [pid 11528, exit code -2, cmd 'ign gazebo -r /home/sciurus/ros2_ws/install/sciurus17_gazebo/share/sciurus17_gazebo/worlds/table.sdf --gui-config /home/sciurus/ros2_ws/install/sciurus17_gazebo/share/sciurus17_gazebo/gui/gui.config'].
以上ですよろしくお願いします
rt-net / sciurus17_ros

シュミレーション環境rvizにおいてsciurus17が表示されない #156

不具合の概要

実行環境

再現方法

期待する動作

ログ・画像
